CN116414845A

CN116414845A - Method, apparatus, electronic device and medium for updating map data

Info

Publication number: CN116414845A
Application number: CN202211734691.9A
Authority: CN
Inventors: 汤文钊
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-07-11

Abstract

The disclosure provides a method, a device, electronic equipment and a medium for updating map data, relates to the technical field of intelligent traffic, and particularly relates to the field of map information. The implementation scheme is as follows: acquiring vector map data, wherein the vector map data comprises a plurality of intersections; for each of a plurality of intersections, determining a driving direction as an entry road into the intersection; determining a turning area corresponding to an entering road, and determining an intersection formed by the entering road and the exiting road as a first intersection meeting a turning condition in response to the existence of an exiting road with a driving direction being away from the intersection in the turning area; determining an intersection comprising a zebra crossing and a stop line in the first intersection as a second intersection; determining a distance between a zebra crossing and a stop line in the second intersection; and determining whether to update the turning restriction information corresponding to the second intersection in the vector map data based on the comparison of the distance and the threshold value.

Description

Method, apparatus, electronic device and medium for updating map data

Technical Field

The present disclosure relates to the field of intelligent transportation technology, and in particular, to the field of map information, and more particularly, to a method, an apparatus, an electronic device, a computer-readable storage medium, and a computer program product for updating map data.

Background

Traffic regulations dictate that dangerous road sections such as crosswalks should not be turned around. There are intersections in the real world where zebra crossings are full, and such intersections have a limitation of turning around. Therefore, the method and the device update the turning restriction information based on the zebra stripes in the electronic map, and are beneficial to providing more reasonable path planning and path recommendation for users.

The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, the problems mentioned in this section should not be considered as having been recognized in any prior art unless otherwise indicated.

Disclosure of Invention

The present disclosure provides a method, apparatus, electronic device, computer-readable storage medium, and computer program product for updating map data.

According to an aspect of the present disclosure, there is provided a method for updating map data, including: acquiring vector map data, wherein the vector map data comprises a plurality of intersections; for each intersection of the plurality of intersections, determining a driving direction as an entry road into the intersection; determining a turning area corresponding to the entering road, and determining an intersection formed by the entering road and the exiting road as a first intersection meeting a turning condition in response to the exiting road with the running direction being the exiting road from the intersection in the turning area; determining an intersection comprising a zebra crossing and a stop line in the first intersection as a second intersection; determining a distance between the zebra crossing and the stop line in the second intersection; and determining whether to update the turning restriction information corresponding to the second intersection in the vector map data based on the comparison of the distance and the threshold value.

According to another aspect of the present disclosure, there is provided an apparatus for updating map data, comprising: the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is configured to acquire vector map data, and the vector map data comprises a plurality of intersections; a first determination module configured to determine, for each of the plurality of intersections, a traveling direction as an entry road into the intersection; a second determining module configured to determine a turning area corresponding to the entering road, and determine an intersection formed by the entering road and the exiting road as a first intersection meeting a turning condition in response to the exiting road having a driving direction of driving away from the intersection in the turning area; a third determining module configured to determine an intersection including a zebra crossing and a stop line among the first intersections as a second intersection; a fourth determination module configured to determine a distance between the zebra crossing and the stop line in the second intersection; and a fifth determining module configured to determine whether to update the u-turn restriction information corresponding to the second intersection in the vector map data based on a size comparison of the distance and a threshold value.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the above-described method.

According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the above method.

According to one or more embodiments of the present disclosure, a method for updating map data is provided, based on recognition of an entering road and an exiting road in an intersection, intersection scenes meeting a turning condition and including a zebra stripes and a stop line are screened out, whether turning can be performed or not is determined by judging the distance between the zebra stripes and the stop line, and turning restriction information corresponding to the intersection in a vector map is updated, so that recognition quality and recognition efficiency of the intersection scenes which can be turned around and include the zebra stripes are improved, and automatic update of map data can be realized.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The accompanying drawings illustrate exemplary embodiments and, together with the description, serve to explain exemplary implementations of the embodiments. The illustrated embodiments are for exemplary purposes only and do not limit the scope of the claims. Throughout the drawings, identical reference numerals designate similar, but not necessarily identical, elements.

FIG. 1 is a schematic diagram illustrating an example system in which various methods described herein may be implemented, according to an example embodiment

FIG. 2 illustrates a flow chart of a method for updating map data according to an embodiment of the present disclosure;

FIG. 3 shows a block diagram of an apparatus for updating map data according to an embodiment of the present disclosure; and

fig. 4 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the present disclosure, the use of the terms "first," "second," and the like to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of the elements, unless otherwise indicated, and such terms are merely used to distinguish one element from another element. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, they may also refer to different instances based on the description of the context.

The terminology used in the description of the various illustrated examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, the elements may be one or more if the number of the elements is not specifically limited. Furthermore, the term "and/or" as used in this disclosure encompasses any and all possible combinations of the listed items.

In the related art, the turning restriction information of the turning restriction caused by the fact that the zebra stripes are paved at the intersections can be updated and maintained in a regular full-quantity screen dragging mode. However, manual screen-dragging manufacturing is generally high in cost consumption and low in efficiency.

In order to solve the above problems, the present disclosure provides a method for updating map data, based on the identification of an entering road and an exiting road in an intersection, screening out an intersection scene that meets a turning condition and includes a zebra stripes and a stop line, and determining whether the intersection can be turned around by judging the distance between the zebra stripes and the stop line, so as to update turning-around limitation information corresponding to the intersection in a vector map. The identification quality and the identification efficiency of the scene containing the zebra stripes are improved, and the automatic update of map data can be realized. Traffic regulations dictate that dangerous road sections such as crosswalks should not be turned around.

Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

Fig. 1 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented, in accordance with an embodiment of the present disclosure. Referring to fig. 1, the system 100 includes a motor vehicle 110, a server 120, and one or more communication networks 130 coupling the motor vehicle 110 to the server 120.

In an embodiment of the present disclosure, motor vehicle 110 may include a computing device in accordance with an embodiment of the present disclosure and/or be configured to perform a method in accordance with an embodiment of the present disclosure.

The server 120 may run one or more services or software applications that enable a method for updating map data. In some embodiments, server 120 may also provide other services or software applications, which may include non-virtual environments and virtual environments. In the configuration shown in fig. 1, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof that are executable by one or more processors. A user of motor vehicle 110 may in turn utilize one or more client applications to interact with server 120 to utilize the services provided by these components. It should be appreciated that a variety of different system configurations are possible, which may differ from system 100. Accordingly, FIG. 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture that involves virtualization (e.g., one or more flexible pools of logical storage devices that may be virtualized to maintain virtual storage devices of the server). In various embodiments, server 120 may run one or more services or software applications that provide the functionality described below.

The computing units in server 120 may run one or more operating systems including any of the operating systems described above as well as any commercially available server operating systems. Server 120 may also run any of a variety of additional server applications and/or middle tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

In some implementations, server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from motor vehicle 110. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of motor vehicle 110.

Network 130 may be any type of network known to those skilled in the art that may support data communications using any of a number of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, the one or more networks 130 may be a satellite communications network, a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a blockchain network, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (including, for example, bluetooth, wiFi), and/or any combination of these with other networks.

The system 100 may also include one or more databases 150. In some embodiments, these databases may be used to store data and other information. For example, one or more of databases 150 may be used to store information such as audio files and video files. The data store 150 may reside in various locations. For example, the data store used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The data store 150 may be of different types. In some embodiments, the data store used by server 120 may be a database, such as a relational database. One or more of these databases may store, update, and retrieve the databases and data from the databases in response to the commands.

In some embodiments, one or more of databases 150 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key value stores, object stores, or conventional stores supported by the file system.

Motor vehicle 110 may include a sensor 111 for sensing the surrounding environment. The sensors 111 may include one or more of the following: visual cameras, infrared cameras, ultrasonic sensors, millimeter wave radar, and laser radar (LiDAR). Different sensors may provide different detection accuracy and range. The camera may be mounted in front of, behind or other locations on the vehicle. The vision cameras can capture the conditions inside and outside the vehicle in real time and present them to the driver and/or passengers. In addition, by analyzing the captured images of the visual camera, information such as traffic light indication, intersection situation, other vehicle running state, etc. can be acquired. The infrared camera can capture objects under night vision. The ultrasonic sensor can be arranged around the vehicle and is used for measuring the distance between an object outside the vehicle and the vehicle by utilizing the characteristics of strong ultrasonic directivity and the like. The millimeter wave radar may be installed in front of, behind, or other locations of the vehicle for measuring the distance of an object outside the vehicle from the vehicle using the characteristics of electromagnetic waves. Lidar may be mounted in front of, behind, or other locations on the vehicle for detecting object edges, shape information for object identification and tracking. The radar apparatus may also measure a change in the speed of the vehicle and the moving object due to the doppler effect.

Motor vehicle 110 may also include a communication device 112. The communication device 112 may include a satellite positioning module capable of receiving satellite positioning signals (e.g., beidou, GPS, GLONASS, and GALILEO) from satellites 141 and generating coordinates based on these signals. The communication device 112 may also include a module for communicating with the mobile communication base station 142, and the mobile communication network may implement any suitable communication technology, such as the current or evolving wireless communication technology (e.g., 5G technology) such as GSM/GPRS, CDMA, LTE. The communication device 112 may also have a Vehicle-to-Everything (V2X) module configured to enable, for example, vehicle-to-Vehicle (V2V) communication with other vehicles 143 and Vehicle-to-Infrastructure (V2I) communication with Infrastructure 144. In addition, the communication device 112 may also have a module configured to communicate with a user terminal 145 (including but not limited to a smart phone, tablet computer, or wearable device such as a watch), for example, by using a wireless local area network or bluetooth of the IEEE802.11 standard. With the communication device 112, the motor vehicle 110 can also access the server 120 via the network 130.

Motor vehicle 110 may also include a control device 113. The control device 113 may include a processor, such as a Central Processing Unit (CPU) or a Graphics Processing Unit (GPU), or other special purpose processor, etc., in communication with various types of computer readable storage devices or mediums. The control device 113 may include an autopilot system for automatically controlling various actuators in the vehicle. The autopilot system is configured to control a powertrain, steering system, braking system, etc. of a motor vehicle 110 (not shown) via a plurality of actuators in response to inputs from a plurality of sensors 111 or other input devices to control acceleration, steering, and braking, respectively, without human intervention or limited human intervention. Part of the processing functions of the control device 113 may be implemented by cloud computing. For example, some of the processing may be performed using an onboard processor while other processing may be performed using cloud computing resources. The control device 113 may be configured to perform a method according to the present disclosure. Furthermore, the control means 113 may be implemented as one example of a computing device on the motor vehicle side (client) according to the present disclosure.

The system 100 of fig. 1 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with the present disclosure.

Fig. 2 illustrates a flowchart of a method for updating map data according to an embodiment of the present disclosure.

As shown in fig. 2, a method 200 for updating map data includes:

step S201, acquiring vector map data, wherein the vector map data comprises a plurality of intersections;

step S202, determining a driving direction as an entering road entering each intersection in the plurality of intersections;

step 203, determining a turning area corresponding to the entering road, and determining an intersection formed by the entering road and the exiting road as a first intersection meeting a turning condition in response to the exiting road with a driving direction of driving away from the intersection in the turning area;

step S204, determining an intersection comprising a zebra crossing and a stop line in the first intersection as a second intersection;

step S205, determining the distance between the zebra crossing and the stop line in the second intersection; and

step S206, based on the comparison of the distance and the threshold value, determining whether to update the turning restriction information corresponding to the second intersection in the vector map data.

Step S202 and step S203 screen out the first crossing meeting the turning condition based on the identification of the entering road and the exiting road in the crossing, then further screen out the second crossing comprising the zebra stripes and the stop lines in the first crossing through step S204, and determine whether the crossing can turn around or not by judging the distance between the zebra stripes and the stop lines in step S205, and further determine whether to update the turning restriction information corresponding to the crossing in the vector map. The first intersection meeting the turning condition is identified by abstracting the turning road into the exit road within a specific angle, and the second intersection with the characteristics of the zebra stripes and the stop lines is further identified, so that the identification quality and the identification efficiency of the turning scene containing the zebra stripes are improved, and the automatic updating of the map data can be realized. In addition, the information of the turning restriction based on the zebra stripes is updated in the electronic map, so that more reasonable path planning and path recommendation are provided for users, and user experience is improved.

According to some embodiments, step S203 comprises: and determining a region obtained by rotating the intersection corresponding to the entering road as an axis and the entering road as an axis by a preset angle to two sides respectively as a turning-around region. Therefore, the turning-around area is obtained by rotating the intersection as an axis and the entering road as an axis to two sides by a preset angle, so that the scenes of turning around left and turning around right and leaving the intersection can meet the condition of turning around the intersection.

In one example, the direction of travel as the direction of exit from the intersection may be divided into four exit areas: the left turn area, the straight run area, the right turn area and the turning around area are used for abstracting all the exit roads which are driven away from the intersection into four exit areas, and determining whether the driving direction of the road is left turn, straight run, right turn or turning around according to the area where the exit roads are located. There may be one exit road or a plurality of exit roads in one exit area. Therefore, whether an exit road with the turning direction is existed or not can be determined through the division of the areas with different driving directions, and then the first intersection meeting the turning condition is screened out.

According to some embodiments, the preset angle is 45 degrees. It can be understood that when the preset angle is set to 45 degrees, the turning areas obtained by rotating 45 degrees to two sides respectively with the intersection as the axis and the entering road as the axis are 90 degrees, so that the four exit areas can be uniformly divided.

According to some embodiments, step S206 comprises: determining that the zebra stripes in the second intersection do not have a u-turn restriction in response to the distance being greater than or equal to the threshold; determining whether the vector map data comprises turning restriction information corresponding to the second intersection; and deleting the turning restriction information in response to the vector map data including the turning restriction information corresponding to the second intersection.

The distance between the zebra stripes and the stop lines can be calculated by combining high-precision acquisition equipment data, and the zebra stripes entity and the transverse marking stop line entity identified by the AI. The width of a general car is between 1600mm and 2000mm, and a certain buffer distance needs to be set in consideration of other factors such as turning radius, so that a threshold value can be set based on the width and the buffer distance of the general car, and whether the zebra crossing is pressed when the car turns around or not is judged by judging whether the distance between the zebra crossing and a stop line exceeds the threshold value.

When the distance is greater than the threshold, it may be determined that the zebra crossing is not full and has no u-turn restriction at the second intersection. Determining whether the vector map data comprises the turning restriction information corresponding to the second intersection by inquiring the vector map data, and deleting the turning restriction information when the vector map data comprises the turning restriction information corresponding to the second intersection so as to realize automatic updating of the map data. Meanwhile, outdated turning restriction information in the map data is deleted in time, so that more reasonable path planning and path recommendation are provided for a user, and user experience is improved.

According to some embodiments, step S206 comprises: responsive to the distance being less than the threshold, determining that the zebra crossing in the second intersection has a turn around limit; determining whether the vector map data comprises turning restriction information corresponding to the second intersection; and responding to the fact that the vector map data does not comprise the turning restriction information corresponding to the second intersection, and adding the turning restriction information corresponding to the second intersection into the vector map data.

Accordingly, when the distance between the zebra stripes and the stop line is less than the threshold value, which indicates that the vehicle is turning around, the zebra stripes may be pressed, and it may be determined that the zebra stripes are full and have a turning around restriction at the second intersection. Determining whether the vector map data comprises the turning restriction information corresponding to the second intersection or not by inquiring the vector map data, and adding the turning restriction information corresponding to the second intersection into the vector map data when the vector map data does not comprise the turning restriction information corresponding to the second intersection so as to realize automatic updating of the map data. Meanwhile, outdated turning restriction information in the map data is timely increased, so that the situation that a route which cannot be lined up due to traffic restriction is provided for a user is avoided, more reasonable path planning and path recommendation are provided for the user, and user experience is improved.

According to another aspect of the present disclosure, an apparatus for updating map data is provided. As shown in fig. 3, the apparatus 300 for updating map data includes: an obtaining module 301 configured to obtain vector map data, where the vector map data includes a plurality of intersections; a first determining module 302 configured to determine, for each of the plurality of intersections, a driving direction as an entry road into the intersection; a second determining module 303 configured to determine a turning area corresponding to the entering road, and determine an intersection formed by the entering road and the exiting road as a first intersection satisfying a turning condition in response to the exiting road having a driving direction of driving away from the intersection in the turning area; a third determining module 304 configured to determine an intersection including a zebra crossing and a stop line among the first intersections as a second intersection; a fourth determination module 305 configured to determine a distance between the zebra crossing and the stop line in the second intersection; and a fifth determining module 306 configured to determine whether to update the u-turn restriction information corresponding to the second intersection in the vector map data based on the comparison of the distance and the size of the threshold.

The first determining module 302 and the second determining module 303 screen out a first intersection meeting the turning condition based on the identification of an entering road and an exiting road in the intersections, further screen out a second intersection including a zebra stripes and a stop line in the first intersection through the third determining module 304, and determine whether the intersection can turn around or not by judging the distance between the zebra stripes and the stop line through the fourth determining module 305, so as to determine whether to update the turning restriction information corresponding to the intersection in the vector map. The apparatus 300 for updating map data recognizes a first intersection satisfying a turning condition by abstracting a turning road into an exit road within a specific angle, and further recognizes a second intersection having a zebra crossing, stop line characteristics therefrom, improves recognition quality and recognition efficiency of a turning scene including the zebra crossing, and thus enables automatic updating of map data. In addition, the information of the turning restriction based on the zebra stripes is updated in the electronic map, so that more reasonable path planning and path recommendation are provided for users, and user experience is improved.

According to some embodiments, the second determination module 303 is further configured to: and determining a region obtained by rotating the intersection corresponding to the entering road as an axis and the entering road as an axis by a preset angle to two sides respectively as a turning-around region. Therefore, the second determining module 303 rotates the intersection as an axis and the entering road as an axis to the two sides by a preset angle to obtain the turning-around area, so that the scenes of turning around left and turning around right and leaving the intersection can meet the condition of turning around the intersection.

In one example, the second determination module 303 may divide the direction of travel as the direction of exit from the exit road of the intersection into four exit areas: the left turn area, the straight run area, the right turn area and the turning around area are used for abstracting all the exit roads which are driven away from the intersection into four exit areas, and determining whether the driving direction of the road is left turn, straight run, right turn or turning around according to the area where the exit roads are located. There may be one exit road or a plurality of exit roads in one exit area. Therefore, the second determining module 303 may determine whether there is an exit road with a u-turn driving direction through the division of the areas with different driving directions, so as to screen out the first intersection meeting the u-turn condition.

According to some embodiments, the fifth determination module 306 comprises: a first determining unit configured to determine that the zebra stripes in the second intersection do not have a u-turn restriction in response to the distance being equal to or greater than the threshold value; a second determining unit configured to determine whether the vector map data includes u-turn restriction information corresponding to the second intersection; and a deletion unit configured to delete the turning restriction information in response to the turning restriction information corresponding to the second intersection being included in the vector map data.

The distance between the zebra stripes and the stop lines can be calculated by combining high-precision acquisition equipment data, and the zebra stripes entity and the transverse marking stop line entity identified by the AI. The width of a general car is between 1600mm and 2000mm, and a certain buffer distance needs to be set in consideration of other factors such as turning radius, so the fifth determining module 306 may set a threshold value based on the width and buffer distance of the general car, and determine whether the vehicle turns around and presses the zebra stripes by determining whether the distance between the zebra stripes and the stop line exceeds the threshold value.

When the distance is greater than the threshold value, the first determining unit may determine that the zebra crossing is not full and has no u-turn restriction at the second intersection. The second determining unit determines whether the vector map data comprises the turning restriction information corresponding to the second intersection by inquiring the vector map data, and when the vector map data comprises the turning restriction information corresponding to the second intersection, the deleting unit deletes the turning restriction information so as to realize automatic updating of the map data. Meanwhile, outdated turning restriction information in the map data is deleted in time, so that more reasonable path planning and path recommendation are provided for a user, and user experience is improved.

According to some embodiments, the fifth determination module 306 comprises: a third determining unit configured to determine that the zebra stripes in the second intersection have a u-turn restriction in response to the distance being less than the threshold value; a fourth determining unit configured to determine whether the vector map data includes u-turn restriction information corresponding to the second intersection; and an increasing unit configured to increase the turning restriction information corresponding to the second intersection in the vector map data in response to the turning restriction information corresponding to the second intersection not being included in the vector map data.

Accordingly, when the distance between the zebra stripes and the stop line is smaller than the threshold value, which indicates that the zebra stripes are pressed when the vehicle turns around, the third determination unit may determine that the zebra stripes are full and have a turning-around restriction at the second intersection. The fourth determining unit determines whether the vector map data includes the turning restriction information corresponding to the second intersection by querying the vector map data, and when the vector map data does not include the turning restriction information corresponding to the second intersection, the adding unit adds the turning restriction information corresponding to the second intersection to the vector map data so as to realize automatic updating of the map data. Meanwhile, outdated turning restriction information in the map data is timely increased, so that the situation that a route which cannot be lined up due to traffic restriction is provided for a user is avoided, more reasonable path planning and path recommendation are provided for the user, and user experience is improved.

According to another aspect of the present disclosure, there is also provided an electronic apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method for updating map data.

According to another aspect of the present disclosure, there is also provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform a method for updating map data.

According to another aspect of the present disclosure, there is also provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements a method for updating map data.

As shown in fig. 4, the electronic device 400 includes a computing unit 401 that can perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 may also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

Various components in electronic device 400 are connected to I/O interface 405, including: an input unit 406, an output unit 407, a storage unit 408, and a communication unit 409. The input unit 406 may be any type of device capable of inputting information to the electronic device 400, the input unit 406 may receive input numeric or character information and generate key signal inputs related to user settings and/or function control of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a trackpad, a trackball, a joystick, a microphone, and/or a remote control. The output unit 407 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 408 may include, but is not limited to, magnetic disks, optical disks. The communication unit 409 allows the electronic device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as bluetooth devices, 802.11 devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.

The computing unit 401 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the respective methods and processes described above, for example, a method for updating map data. For example, in some embodiments, the method for updating map data may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 400 via the ROM 402 and/or the communication unit 409. When the computer program is loaded into RAM 403 and executed by computing unit 401, one or more steps of the method for updating map data described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the method for updating map data by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

D-EF222299

Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the foregoing methods, systems, and apparatus are merely exemplary embodiments or examples, and that the scope of the present invention is not limited by these embodiments or examples but only by the claims following the grant and their equivalents.

Various elements of the embodiments or examples may be omitted or replaced with equivalent elements thereof. Furthermore, the steps may be performed in a different order than described in the present disclosure. Further, various elements of the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced by equivalent elements that appear after the disclosure.

Claims

1. A method for updating map data, comprising:

Acquiring vector map data, wherein the vector map data comprises a plurality of intersections;

for each intersection of the plurality of intersections, determining a driving direction as an entry road into the intersection;

determining a turning area corresponding to the entering road, and determining an intersection formed by the entering road and the exiting road as a first intersection meeting a turning condition in response to the exiting road with the running direction being the exiting road from the intersection in the turning area;

determining an intersection comprising a zebra crossing and a stop line in the first intersection as a second intersection;

determining a distance between the zebra crossing and the stop line in the second intersection; and

and determining whether to update the turning restriction information corresponding to the second intersection in the vector map data based on the comparison of the distance and the threshold value.

2. The method of claim 1, wherein the determining the turn-around area corresponding to the entry road comprises:

and determining a region obtained by rotating the intersection corresponding to the entering road as an axis and the entering road as an axis by a preset angle to two sides respectively as a turning-around region.

3. The method of claim 1 or 2, wherein the determining whether to update the u-turn restriction information corresponding to the second intersection in the vector map data based on the comparison of the distance and a threshold value comprises:

Determining that the zebra stripes in the second intersection do not have a u-turn restriction in response to the distance being greater than or equal to the threshold;

determining whether the vector map data comprises turning restriction information corresponding to the second intersection; and

and deleting the turning restriction information in response to the vector map data including the turning restriction information corresponding to the second intersection.

4. The method of any of claims 1-3, wherein the determining whether to update the u-turn restriction information corresponding to the second intersection in the vector map data based on a size comparison of the distance to a threshold value comprises:

responsive to the distance being less than the threshold, determining that the zebra crossing in the second intersection has a turn around limit;

and responding to the vector map data without the turning restriction information corresponding to the second intersection, and adding the turning restriction information corresponding to the second intersection into the vector map data.

5. The method of any of claims 2-4, wherein the preset angle is 45 degrees.

6. An apparatus for updating map data,

The system comprises an acquisition module, a display module and a display module, wherein the acquisition module is configured to acquire vector map data, and the vector map data comprises a plurality of intersections;

a first determination module configured to determine, for each of the plurality of intersections, a traveling direction as an entry road into the intersection;

a second determining module configured to determine a turning area corresponding to the entering road, and determine an intersection formed by the entering road and the exiting road as a first intersection meeting a turning condition in response to the exiting road having a driving direction of driving away from the intersection in the turning area;

a third determining module configured to determine an intersection including a zebra crossing and a stop line among the first intersections as a second intersection;

a fourth determination module configured to determine a distance between the zebra crossing and the stop line in the second intersection; and

and a fifth determining module configured to determine whether to update the turning restriction information corresponding to the second intersection in the vector map data based on the comparison of the distance and the threshold value.

7. The apparatus of claim 6, wherein the second determination module is further configured to:

8. The apparatus of claim 6 or 7, wherein the fifth determination module comprises:

a first determining unit configured to determine that the zebra stripes in the second intersection do not have a u-turn restriction in response to the distance being equal to or greater than the threshold value;

a second determining unit configured to determine whether the vector map data includes u-turn restriction information corresponding to the second intersection; and

and the deleting unit is configured to delete the turning restriction information in response to the fact that the vector map data comprises the turning restriction information corresponding to the second intersection.

9. The apparatus of any of claims 6-8, wherein the fifth determination module comprises:

a third determining unit configured to determine that the zebra stripes in the second intersection have a u-turn restriction in response to the distance being less than the threshold value;

a fourth determining unit configured to determine whether the vector map data includes u-turn restriction information corresponding to the second intersection; and

And the adding unit is configured to add the turning restriction information corresponding to the second intersection in the vector map data in response to the fact that the turning restriction information corresponding to the second intersection is not included in the vector map data.

10. The device of any of claims 7-9, wherein the preset angle is 45 degrees.

11. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the method comprises the steps of

The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.

12. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-5.

13. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method of any of claims 1-5.